/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "usart.h"
#include "gpio.h"
#include "string.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

#define ID1 0x01
#define ID2 0x02
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */


/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
//滤波器编号
#define CAN_FILTER(x) ((x)<<3)
//接收队列
#define CAN_FIFO_0 (0<<2)
#define CAN_FIFO_1 (1<<2)
//标准帧或扩展帧
#define CAN_STDTD (0<<1)
#define CAN_EXTID (1<<1)
//数据帧或遥控帧

#define CAN_DATA_TYPE (0<<0)
#define CAN_REMOTE_TYPE (1<<0)
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
uint8_t Buffer;
uint8_t RxBuffer[20]={0};

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void CAN_Init(CAN_HandleTypeDef *hcan)
{
	HAL_CAN_Start(hcan);
	__HAL_CAN_ENABLE_IT(hcan,CAN_IT_RX_FIFO0_MSG_PENDING);
	__HAL_CAN_ENABLE_IT(hcan,CAN_IT_RX_FIFO1_MSG_PENDING);
}
void CAN_Filter_Mask_Config(CAN_HandleTypeDef *hcan,uint8_t Object_para, uint32_t ID, uint32_t Mask_ID)
{
	CAN_FilterTypeDef CAN_FILTER_Sruct;
	
	assert_param(hcan != NULL);
	
	if((Object_para & 0x02))
	{
		//数据帧
		CAN_FILTER_Sruct.FilterIdHigh = ID << 3 >> 16;
		CAN_FILTER_Sruct.FilterIdLow = ID<<3 |((Object_para & 0x03) << 1);
		CAN_FILTER_Sruct.FilterMaskIdHigh = Mask_ID << 3 <<16;
		CAN_FILTER_Sruct.FilterMaskIdLow = Mask_ID << 3|((Object_para & 0x03)<<1);
	}
	else 
	{
		CAN_FILTER_Sruct.FilterIdHigh = ID<<5;
		CAN_FILTER_Sruct.FilterIdLow = (Object_para & 0x03) << 1;
		CAN_FILTER_Sruct.FilterMaskIdHigh = Mask_ID << 5;
		CAN_FILTER_Sruct.FilterMaskIdLow = (Object_para & 0x03)<<1;
	}
	// 滤波器序号, 0-27, 共28个滤波器, can1是0~13, can2是14~27
  CAN_FILTER_Sruct.FilterBank = Object_para >> 3;
  // 滤波器绑定FIFOx, 只能绑定一个
  CAN_FILTER_Sruct.FilterFIFOAssignment = (Object_para >> 2) & 0x01;
  // 使能滤波器
  CAN_FILTER_Sruct.FilterActivation = ENABLE;
  // 滤波器模式, 设置ID掩码模式
  CAN_FILTER_Sruct.FilterMode = CAN_FILTERMODE_IDMASK;
  // 32位滤波
  CAN_FILTER_Sruct.FilterScale = CAN_FILTERSCALE_32BIT;
    //从机模式选择开始单元
  CAN_FILTER_Sruct.SlaveStartFilterBank = 14;

  HAL_CAN_ConfigFilter(hcan, &CAN_FILTER_Sruct);

}
uint8_t CAN_Send_Data(CAN_HandleTypeDef *hcan,
uint16_t ID,uint8_t *Data,uint16_t Length)
{
	CAN_TxHeaderTypeDef tx_header;
	uint32_t used_mailbox;
	
	//检测关键传参
	assert_param(hcan != NULL);
	
	tx_header.StdId =ID;
	tx_header.ExtId =0;
	tx_header.IDE =0;
	tx_header.RTR =0;
	tx_header.DLC =Length;
	
	return (HAL_CAN_AddTxMessage(hcan,&tx_header, Data,
		&used_mailbox));
}


void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
	CAN_RxHeaderTypeDef header;
	uint8_t data;
	HAL_CAN_GetRxMessage(hcan, CAN_FilterFIFO1,&header,&data);
	
}

void Motor_control(uint8_t id,uint8_t Mode,uint8_t Dir,uint16_t angle,uint16_t speed)
{
	uint8_t buffer[7];
	buffer[0] = Mode;//id1 
  buffer[1] = Dir;
	buffer[2] = 0x20;//细分值32

	buffer[3] = (uint8_t)(angle >> 8);//高八位  
	buffer[4] = (uint8_t)(angle & 0xFF);//低八位 
	
	buffer[5] = (uint8_t)(speed >> 8);//高八位  
  buffer[6] = (uint8_t)(speed & 0xFF);//低八位 
	
	CAN_Send_Data(&hcan1,id,buffer,7);
}

int i = 0;//定义帧格式为0xFE motor1~2 mode1 dir0~1  angle_H angle_L speed_H  angle_L 0XBF

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
  if(huart == &huart6) 
  {
		if(Buffer==0xFE) i=0;
			RxBuffer[i]=Buffer;
		i++;
		if(RxBuffer[8]==0xBF)
		{	
			Motor_control(RxBuffer[1],RxBuffer[2],RxBuffer[3],(RxBuffer[4] << 8) | RxBuffer[5],(RxBuffer[6] << 8) | RxBuffer[7]);
			memset(RxBuffer,0x00,20);
			i = 0;
		}
	}
	HAL_UART_Receive_IT(&huart6,&Buffer,1);
}
void Data_Request(uint8_t ID)
{
	uint8_t Data_Request[7] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00};
	CAN_Send_Data(&hcan1,ID,Data_Request,7);
	
}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_CAN1_Init();
  MX_USART6_UART_Init();
  /* USER CODE BEGIN 2 */
	CAN_Init(&hcan1);
	CAN_Filter_Mask_Config(&hcan1,CAN_FILTER(13)|CAN_FIFO_1|CAN_STDTD|CAN_DATA_TYPE,0x000,0x000);
	HAL_UART_Receive_IT(&huart6,&Buffer,1);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
		

		HAL_Delay(1000);
	
    /* USER CODE BEGIN 3 */
	}
  /* USER CODE END 3 */
}


/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 336;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
